From 649402f7b978551247d09ab4435a2841dc039a2e Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 3 Sep 2019 16:02:33 +0200
Subject: [PATCH] Update CartesianWaypointControlGuiWidgetController to use
VirtualRobot::json::posquatArray2eigen4fVector
---
...artesianWaypointControlGuiWidgetController.cpp | 15 +++------------
1 file changed, 3 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
index eb3e88376..df1458f3f 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
@@ -29,14 +29,6 @@
#include "CartesianWaypointControlGuiWidgetController.h"
-namespace Eigen
-{
- void from_json(const nlohmann::json& j, Eigen::Matrix4f& mx)
- {
- mx = VirtualRobot::json::posquat2eigen4f(j);
- }
-}
-
namespace armarx
{
CartesianWaypointControlGuiWidgetController::CartesianWaypointControlGuiWidgetController()
@@ -99,7 +91,7 @@ namespace armarx
found = true;
}
}
- if(found && _robot->hasRobotNode("FT R"))
+ if (found && _robot->hasRobotNode("FT R"))
{
_ui.lineEditFTName->setText("FT R");
}
@@ -202,9 +194,8 @@ namespace armarx
//parse json
try
{
- auto json = ::nlohmann::json::parse(_ui.textEditWPs->toPlainText().toStdString());
- ARMARX_INFO << "parsed string as json";
- _lastParsedWPs = json.get<std::vector<Eigen::Matrix4f>>();
+ _lastParsedWPs = VirtualRobot::json::posquatArray2eigen4fVector(
+ _ui.textEditWPs->toPlainText().toStdString());
}
catch (...)
{
--
GitLab